From b3a463492c01fb8d10a1659e26b9050b88468686 Mon Sep 17 00:00:00 2001
From: Miller
Date: Thu, 13 Jul 2017 10:22:50 -0500
Subject: cli params for xcorr

---
 src/vision.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/vision.cpp')

diff --git a/src/vision.cpp b/src/vision.cpp
index 148f643..0f2b4f9 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -17,7 +17,7 @@
  * =====================================================================================
  */
 #include "vision.h"
-
+#include "types.h"
 
 /*
  *--------------------------------------------------------------------------------------
@@ -202,7 +202,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin,
             measure(cam,zins, zouts);
             z.xcorrmax = zouts.xcorrmax;
             z.source = zouts.source;
-            if (z.xcorrmax<0.90) { //downgrade
+            if (z.xcorrmax<xcorrsrc) { //downgrade
                 if (mt==BOTH) {
                     mt=REFLECTION;
                 } else if (mt==MONO) {
@@ -216,7 +216,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin,
             zinr.z_type = REFLECTION;
             measure(cam, zinr, zoutr);
             z.reflection = zoutr.reflection;
-            if (zoutr.xcorrmax<0.4) { //downgrade
+            if (zoutr.xcorrmax<xcorrref) { //downgrade
                 if (mt==BOTH) {
                     mt = MONO;
                 } else if (mt==REFLECTION) {
-- 
cgit v1.1